Automatic cover pasting machine with double-visual-angle grabbing function

Abstract

The utility model relates to a double-visual-angle grabbing automatic cover pasting machine which comprises a cover pasting machine body, a cover body conveying assembly and a wet tissue bag conveying belt, and the cover body conveying assembly and the wet tissue bag conveying belt are arranged in the cover pasting machine body side by side. A cover body position visual grabbing machine and a wet tissue bag position visual grabbing machine are installed at the positions, corresponding to the cover body conveying assembly and the wet tissue bag conveying belt, of the cover pasting machine body correspondingly. According to the automatic cover pasting machine with the double-visual-angle grabbing function, during cover pasting, cover conveying is conducted through the cover conveying assembly, then the cover is irradiated through the cover position visual grabbing machine, the position of the cover is obtained, the cover is conveyed and placed on the cover pasting machine body, the cover pasting machine body conducts accurate grabbing, and the cover pasting efficiency is improved. The position of the cover body can be accurately judged without a positioning plate, and blockage is avoided.

Description

Technical Field

[0001] The utility model belongs to the technical field of capping, and particularly relates to an automatic capping machine with dual-viewpoint grasping. Background Art

[0002] Wet wipes have a wide range of uses and can be used to wipe hands, faces, and skin. Skin care ingredients can be added to wet wipes, which have a skin care and moisturizing effect on the skin. Some wet wipes also contain disinfection ingredients, which can play an antibacterial and virus-killing function when used. Most wet wipes are made of non-woven fabric, which has good flexibility, is convenient to use, and improves the user experience.

[0003] During the production process of wet wipes, operations such as folding the tissue cloth onto the machine, adding liquid, cross-cutting, stacking, inspecting, packaging, sealing, and boxing are required for the tissue cloth. Each step will affect the production efficiency of wet wipes. During the process of sealing and capping, the cover body is usually transported in a positioning manner during the transmission process, that is, positioning plates are arranged on both sides of the conveyor belt to limit the movement positions of both sides of the cover body to ensure the stable operation of the cover body and ensure that the robot can accurately grasp it. However, the shape of the cover body transported by such a structure is relatively limited, and if the debugging is not good, it is easy to cause the cover body to tilt and abut against the positioning plate, resulting in transmission blockage. Summary of the Utility Model

[0004] In view of the deficiencies of the prior art, the technical problem to be solved by the utility model is to provide an automatic capping machine with dual-viewpoint grasping, which can accurately judge the position of the cover body without a positioning plate and will not cause blockage.

[0005] To solve the above technical problem, the technical solution adopted by the utility model is: an automatic capping machine with dual-viewpoint grasping, including a capping machine body, a cover body transmission component, and a wet wipe bag conveyor belt. The cover body transmission component and the wet wipe bag conveyor belt are arranged side by side in the capping machine body. A cover body position vision gripper and a wet wipe bag position vision gripper are respectively installed on the capping machine body corresponding to the positions of the cover body transmission component and the wet wipe bag conveyor belt.

[0006] The cover body transmission component includes a cover body placement rack and a cover body conveyor belt. The cover body placement rack is installed on the cover body conveyor belt. A cover body output port is opened below the cover body placement rack. There is a transmission gap adapted to the thickness of the cover body between the cover body output port and the cover body conveyor belt. A cover body input port is installed on one side of the cover body placement rack facing the cover body automatic stacking component.

[0007] The cover body placement rack includes a support plate, a plurality of support frames, a plurality of fixing plates, and a plurality of adjusting plates. The plurality of support frames are equidistantly installed on the support plate along the length of the cover body conveyor belt. The plurality of fixing plates are installed on the support plate and located at the bottom of the plurality of support frames. The plurality of adjusting plates are slidably installed on the support plate and are symmetrically arranged with the plurality of fixing plates one by one. There is a lower cover gap between the adjusting plate and the fixing plate.

[0008] A sliding groove is provided on the adjusting plate, a screw hole is provided on the support plate corresponding to the position of the sliding groove, a bolt is threadedly connected in the screw hole, and a clamping block for abutting against the adjusting plate is installed on the bolt.

[0009] The capping machine body includes a frame, a grasping driving member and a double-headed gripper. The grasping driving member is installed on the frame and is located above the lid conveyor belt and the packaging conveyor belt. The double-headed gripper is installed on the driving end of the grasping driving member.

[0010] The double-headed gripper includes a mounting plate and two vacuum suction heads, and the two vacuum suction heads are respectively installed at the corresponding two ends of the mounting plate.

[0011] Compared with the prior art, the utility model has the following beneficial effects:

[0012] For the automatic capping machine with dual-viewpoint grasping of the utility model, when capping, the lid is conveyed through the lid conveying assembly, and then the lid is irradiated by the lid position vision gripper to obtain the position of the lid, and the position is transmitted and placed on the capping machine body, so that the capping machine body can perform accurate grasping, realizing that the accurate judgment of the lid position by the positioning plate is not required and blockage will not be caused. Description of the Drawings

[0013] Figure 1 is a schematic structural diagram of the automatic capping machine of the utility model;

[0014] Figure 2 is a schematic structural diagram of the lid conveying assembly of the utility model;

[0015] Figure 3 is a schematic structural diagram of the lid placement rack of the utility model;

[0016] Figure 4 is a schematic structural diagram of the capping machine body of the utility model.

[0017] Markings in the figure: 1. Capping machine body; 2. Lid conveying assembly; 3. Wet wipe bag conveyor belt; 4. Lid position vision gripper; 5. Wet wipe bag position vision gripper; 6. Lid placement rack; 7. Lid conveyor belt; 8. Support plate; 9. Support frame; 10. Fixed plate; 11. Adjusting plate; 12. Sliding groove; 13. Bolt; 14. Clamping block; 15. Frame; 16. Grasping driving member; 17. Mounting plate; 18. Vacuum suction head. Detailed Embodiments

[0018] In order to make the above features and advantages of the utility model more obvious and understandable, specific embodiments are hereby given and detailed descriptions are made in conjunction with the accompanying drawings as follows.

[0019] As Figures 1-4As shown in the figure, this embodiment provides an automatic capping machine for dual-view grasping, which includes a capping machine body 1, a lid transmission component 2, and a wet wipe bag conveyor belt 3. The lid transmission component 2 and the wet wipe bag conveyor belt 3 are arranged side by side in the capping machine body 1. A lid position vision gripper 4 and a wet wipe bag position vision gripper 5 are respectively installed at the positions of the capping machine body 1 corresponding to the lid transmission component 2 and the wet wipe bag conveyor belt 3. When capping, the lid is transmitted through the lid transmission component 2, and then the lid is irradiated by the lid position vision gripper 4 to obtain the position of the lid, and it is transmitted and placed on the capping machine body 1, so that the capping machine body 1 can perform precise grasping, realizing that there is no need for a positioning plate to accurately judge the position of the lid and no blockage will occur. The wet wipe bag position vision gripper 5 irradiates the wet wipe to determine the position of the wet wipe for precise capping. That is, the principle of vision grasping is to collect images through a camera to obtain the image information of the target object, and then use image processing algorithms and machine learning models to process and analyze the images, so as to identify the characteristics and positions of the objects. Finally, the recognition results are transmitted to the robot control system to achieve precise positioning and grasping operations.

[0020] Further, the lid transmission component 2 includes a lid placement rack 6 and a lid conveyor belt 7. The lid placement rack 6 is installed on the lid conveyor belt 7. A lid output port is opened below the lid placement rack 6. There is a transmission gap adapted to the thickness of the lid between the lid output port and the lid conveyor belt 7. A lid input port is installed on one side of the lid placement rack 6 facing the lid automatic stacking component. By stacking the lids on the lid placement rack 6, the lids fall on the lid conveyor belt 7 through the lid output port below the lid placement rack 6 for conveying.

[0021] Further, the lid placement rack 6 includes a support plate 8, a plurality of support frames 9, a plurality of fixing plates 10, and a plurality of adjusting plates 11. The plurality of support frames 9 are equidistantly installed on the support plate 8 along the length of the lid conveyor belt 7. The plurality of fixing plates 10 are installed on the support plate 8 and located at the bottom of the plurality of support frames 9. The plurality of adjusting plates 11 are slidably installed on the support plate 8 and are symmetrically arranged with the plurality of fixing plates 10 one by one. There is a lower lid gap between the adjusting plate 11 and the fixing plate 10. A passing slot is opened in the support plate 8 corresponding to the lower lid gap. The area of the passing slot is larger than the area of the lower lid gap. Specifically, a sliding slot 12 is provided on the adjusting plate 11. A screw hole is opened in the support plate 8 corresponding to the sliding slot 12. A bolt 13 is threadedly connected in the screw hole. A clamping block 14 for abutting against the adjusting plate 11 is installed on the bolt 13. The lids are stacked on the support frames 9. The adjusting plate 11 is moved according to the size of the lids to adjust the size of the lower lid gap to adapt to different lids, and then the bolt 13 is tightened so that the clamping block 14 cooperates with the support plate 8 to clamp and fix the adjusting plate 11.

[0022] Furthermore, the capping body 1 includes a frame 15, a grasping driving member 16 and a double-headed gripper. The grasping driving member 16 is installed on the frame 15 and is located above the cover conveyor belt and the packaging conveyor belt. The double-headed gripper is installed on the driving end of the grasping driving member 16. Specifically, the double-headed gripper includes a mounting plate 17 and two vacuum suction heads 18. The two vacuum suction heads 18 are respectively installed at the corresponding two ends of the mounting plate 17. Two covers can be grasped at one time by the two vacuum suction heads 18 to increase the efficiency of capping.

[0023] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic capping machine for dual-view grasping, characterized in that: It includes a cover-applying machine body, a cover-body transmission component and a wet wipe bag conveyor belt. The cover-applying machine body is provided with a cover-body transmission component and a wet wipe bag conveyor belt side by side. The positions of the cover-applying machine body corresponding to the cover-body transmission component and the wet wipe bag conveyor belt are respectively provided with a cover-body position visual grasping machine and a wet wipe bag position visual grasping machine.

2. The automatic capping machine with dual-viewing angles according to claim 1, characterized in that: The cover transmission assembly includes a cover placement rack and a cover conveyor belt. The cover placement rack is installed on the cover conveyor belt. A cover output port is opened below the cover placement rack. There is a transmission gap between the cover output port and the cover conveyor belt that is adapted to the thickness of the cover. A cover input port is installed on the side of the cover placement rack facing the cover automatic stacking assembly.

3. The automatic capping machine for double-view grasping according to claim 2, wherein: The cover placement rack includes a support plate, multiple support racks, multiple fixed plates and multiple adjustment plates. The multiple support racks are installed on the support plate at equal intervals along the length of the cover conveyor belt. The multiple fixed plates are installed on the support plate and are located at the bottom of the multiple support racks. The multiple adjustment plates are slidably installed on the support plate and are symmetrically arranged one by one with the multiple fixed plates. There is a lower cover gap between the adjustment plate and the fixed plate.

4. The automatic capping machine with dual-view grasping according to claim 3, wherein: The adjusting plate is provided with a sliding groove, the supporting plate is provided with a screw hole at a position corresponding to the sliding groove, a bolt is connected with a thread in the screw hole, and a clamping block that presses against the adjusting plate is installed on the bolt.

5. The dual-viewing-angle automatic capping machine according to claim 1, characterized in that: The capping machine includes a frame, a grabbing drive and a double-head grabber. The grabbing drive is installed on the frame and is located above the cap conveyor belt and the packaging conveyor belt. The double-head grabber is installed on the driving end of the grabbing drive.

6. The automatic capping machine for dual-view grasping according to claim 5, characterized in that: The double-head gripper comprises a mounting plate and two vacuum adsorption heads, wherein the two vacuum adsorption heads are respectively mounted on corresponding ends of the mounting plate.

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